I have a Bissell Big Green Clean Machine cannister that I have had wonderful results from for neigh on 18 years. I also have a Hoover Steam Vac with Power surge that I am fond of as well.
I use the Pet detergent under the Wal-Mart Good Value brand as well as the Woolite with Oxi-action. Both are low foamers, leave little residue, and clean very well in either of my machines.